GEM-Remotes/GemBluetoothEmbeddedDevice
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Made motor driver independent task

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This commit is contained in:
Dave
2024-08-24 00:35:12 -04:00
parent cc72a23176
commit 3cf3dc5936
4 changed files with 90 additions and 39 deletions
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30
gem-remotes-esp32/src/main.rs
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@ -10,7 +10,6 @@ use log::*; //{trace, debug, info, warn, error}
use anyhow::Result;
use async_executor::Executor;
use futures_lite::future;
use std::boxed::Box;
// Debug modules
mod test_console;
@ -38,35 +37,23 @@ fn main() {
//log::set_max_level(log::LevelFilter::Info);
match future::block_on(main_loop()) {
Ok(_) => {error!("Exited main loop normally, but this should be impossible.")}
Err(e) => {error!("Exited main loop with error {}", e)}
Ok(_) => {error!("Exited main loop with no errors, but this should not happen."); panic!();}
Err(e) => {error!("Exited main loop with error {}", e); panic!();}
};
//TODO: can we restart the microcontroller here?
}
/*
async fn test_loop() -> Result<()> {
let timer_service = EspTaskTimerService::new()?;
let mut async_timer = timer_service.timer_async()?;
loop {
async_timer.after(Duration::from_secs(5)).await?;
debug!("Tick ");
}
} */
async fn main_loop() -> Result<()> {
info!("Entering main loop");
// Create dispatch early so it can outlive most other things
let mut dp = dispatch::Dispatch::new();
// Debug Drivers
let motor_driver = Box::new(motor_driver::MotorDriverDebug {});
// Debug Drivers (TODO: remove debug)
let motor_driver = motor_driver::MotorDriverDebug::new(dp.get_cmd_channel());
// Setup of various drivers that need to out-live the executor
let m_chan = motor_controller::Controller::prepare_controller(&mut dp);
let mut motor_control = motor_controller::Controller::new(m_chan, dp.get_cmd_channel(), motor_driver);
let mut motor_control = motor_controller::Controller::new(m_chan, dp.get_cmd_channel(), motor_driver.get_endpoint());
// Setup callback timers
let mut button_timer = MessageTimer::<Commands, Commands>::new_on_dispatch(
Commands::ButtonTimerRestart,
@ -85,7 +72,7 @@ async fn main_loop() -> Result<()> {
let executor = Executor::new();
let mut tasks:Vec<_> = Vec::new();
//Queue Up debug tasks (TODO: remove)
//Queue Up debug tasks (TODO: remove debug)
let cli_endpoint = dp.get_cmd_channel();
tasks.push(executor.spawn(test_console::start_cli(cli_endpoint)));
//tasks.push(executor.spawn(test_loop()));
@ -97,6 +84,7 @@ async fn main_loop() -> Result<()> {
tasks.push(executor.spawn(button_timer.run()));
tasks.push(executor.spawn(stopping_timer.run()));
tasks.push(executor.spawn(ble_server.run()));
tasks.push(executor.spawn(motor_driver.run()));
tasks.push(executor.spawn(dp.cmd_loop()));
//Once we have all our tasks, await on them all to run them in parallel.
@ -107,4 +95,6 @@ async fn main_loop() -> Result<()> {
info!("exiting main loop");
Ok(())
}
//TODO: check many of these mut functions to see if they don't need to be.